#ifndef __TASKD_H

#define __TASKD_H
#include "sys.h"

//串口1为:树莓派/jetson nano
//串口2为:机械臂stm32f103
//串口3为:左openmv	
//串口4为:右openmv
//串口5为:前stm32f407(红外对管，超声波)
//串口6为:小车stm32f103
extern u16 mode_D, count_D;
void actionD(float x_target, float w_target);
void ClossToFruitX(float x_target, float w_target);
void ClossToFruitS(float x_target, float w_target);
void find_D(int high);
void GrapFruit_D(uint8_t high);
void cardown(void);
void carup(void);
void carcenter(void);
void judgeXS(void);
void closetowall_D(float L_tar, float R_tar, float B_tar);
void TaskD(void);

#endif

